Calibration
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Calibration is the process of determining and correcting the parameters that describe a system's physical properties, geometric relationships, or measurement biases so that its outputs accurately reflect real-world quantities. In robotics and AI, calibration appears across a wide range of problems: establishing precise camera intrinsics and extrinsics for vision systems, determining the spatial and temporal relationships between multiple sensors (such as cameras, LiDARs, and IMUs), correcting kinematic errors in robot manipulators, and reducing odometry drift in mobile robots. Techniques range from solving hand-eye transformation equations and fitting sensor error models to online self-calibration during operation and sim-to-real transfer via dynamics randomization. Calibration matters because even small systematic errors in sensor measurements or kinematic models compound over time or across tasks, degrading localization, mapping, manipulation, and perception accuracy. Without rigorous calibration, robots cannot reliably bridge the gap between their internal models and physical reality, making it a foundational prerequisite for safe, precise, and trustworthy autonomous operation in real-world environments.
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A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
R. Tsai
Citations: 5813 • 1987
Advancements in the Aerosol Robotic Network (AERONET) Version 3 database – automated near-real-time quality control algorithm with improved cloud screening for Sun photometer aerosol optical depth (AOD) measurements
D. M. Giles, A. Sinyuk, M. G. Sorokin, Joel S. Schafer, A. Smirnov, I. Slutsker, T. F. Eck, B. N. Holben, Jasper R. Lewis, James R. Campbell, Ellsworth J. Welton, Sergey Korkin, Alexei Lyapustin
Citations: 1372 • 2019
A new technique for fully autonomous and efficient 3D robotics hand/eye calibration
R. Tsai, R. Lenz
Citations: 1343 • 1989
A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery
Y. S. Kwoh, Jung-Fu Hou, Edmond Jonckheere, S. Hayati
Citations: 1257 • 1988
Measurement and correction of systematic odometry errors in mobile robots
J. Borenstein, Liqiang Feng
Citations: 792 • 1996
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
Citations: 787 • 2018
Unified temporal and spatial calibration for multi-sensor systems
Paul Furgale, Joern Rehder, Roland Siegwart
Citations: 784 • 2013
Automatic camera and range sensor calibration using a single shot
Andreas Geiger, Frank Moosmann, Omer Car, Bernhard Schuster
Citations: 640 • 2012
Hand-Eye Calibration
Radu Horaud, Fadi Dornaika
Citations: 578 • 1995
Absolute calibration of an ABB IRB 1600 robot using a laser tracker
Albert Nubiola, Ilian A. Bonev
Citations: 576 • 2012
Robot sensor calibration: solving AX=XB on the Euclidean group
F.C. Park, B.J. Martin
Citations: 551 • 1994
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
Jonathan Kelly, Gaurav S. Sukhatme
Citations: 530 • 2010
An overview of robot calibration
Zvi S. Roth, B. W. Mooring, Bahram Ravani
Citations: 503 • 1987
Fundamentals of manipulator calibration
Citations: 430 • 1992
Single View Point Omnidirectional Camera Calibration from Planar Grids
Christopher Mei, Patrick Rives
Citations: 429 • 2007
Systematic accuracy and precision analysis of video motion capturing systems—exemplified on the Vicon-460 system
Markus Windolf, Nils Götzen, Michael M. Morlock
Citations: 414 • 2008
Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes
Joern Rehder, Janosch Nikolic, Thomas Schneider, Timo Hinzmann, Roland Siegwart
Citations: 379 • 2016
An overview of calibration technology of industrial robots
Zhibin Li, Shuai Li, Xin Luo
Citations: 365 • 2021
Automatic Online Calibration of Cameras and Lasers
Jesse Levinson, Sebastian Thrun
Citations: 324 • 2013
Industrial Robot Forward Calibration Method and Results
Daniel E. Whitney, C. Lozinski, J. M. Rourke
Citations: 315 • 1986